VINS-Mono Failed to catkin

Failed to catkin_make.

Open phenix1983 opened this issue 6 years ago • 3 comments

Hi, I think iI have installed all the dependencies, when run catkin_make, errors are as follows: yfz@yfz-ZHAOYANG-E42-80:~/catkin_ws$ catkin_make Base path: /home/yfz/catkin_ws Source space: /home/yfz/catkin_ws/src Build space: /home/yfz/catkin_ws/build Devel space: /home/yfz/catkin_ws/devel Install space: /home/yfz/catkin_ws/install

Running command: "cmake /home/yfz/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/yfz/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/yfz/catkin_ws/install -G Unix Makefiles" in "/home/yfz/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/yfz/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /home/yfz/catkin_ws/devel;/opt/ros/kinetic -- This workspace overlays: /home/yfz/catkin_ws/devel;/opt/ros/kinetic -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/yfz/catkin_ws/build/test_results -- Found gtest sources under '/usr/src/gtest': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.8 -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 7 packages in topological order: -- ~~ - beginner_tutorials -- ~~ - benchmark_publisher -- ~~ - camera_model -- ~~ - ar_demo -- ~~ - feature_tracker -- ~~ - pose_graph -- ~~ - vins_estimator -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'beginner_tutorials' -- ==> add_subdirectory(beginner_tutorials) -- +++ processing catkin package: 'benchmark_publisher' -- ==> add_subdirectory(VINS-Mono/benchmark_publisher) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'camera_model' -- ==> add_subdirectory(VINS-Mono/camera_model) CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message): Imported targets not available for Boost version 106600 Call Stack (most recent call first): /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES) /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES) VINS-Mono/camera_model/CMakeLists.txt:13 (find_package)

CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message): Imported targets not available for Boost version 106600 Call Stack (most recent call first): /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES) /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES) VINS-Mono/camera_model/CMakeLists.txt:13 (find_package)

-- Boost version: 1.66.0 -- Found the following Boost libraries: -- filesystem -- program_options -- system -- Found OpenCV: /opt/ros/kinetic (found version "3.3.1") -- Found installed version of Eigen: /usr/local/share/eigen3/cmake -- Found required Ceres dependency: Eigen version 3.3.3 in /usr/local/include/eigen3 -- Found required Ceres dependency: glog -- Found installed version of gflags: /usr/local/lib/cmake/gflags -- Detected gflags version: 2.2.1 -- Found required Ceres dependency: gflags -- Found Ceres version: 1.13.0 installed in: /usr/local with components: [LAPACK, SuiteSparse, SparseLinearAlgebraLibrary, CXSparse, SchurSpecializations, OpenMP] -- +++ processing catkin package: 'ar_demo' -- ==> add_subdirectory(VINS-Mono/ar_demo) -- +++ processing catkin package: 'feature_tracker' -- ==> add_subdirectory(VINS-Mono/feature_tracker) -- +++ processing catkin package: 'pose_graph' -- ==> add_subdirectory(VINS-Mono/pose_graph) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Found installed version of Eigen: /usr/local/share/eigen3/cmake -- Found required Ceres dependency: Eigen version 3.3.3 in /usr/local/include/eigen3 -- Found required Ceres dependency: glog -- Found installed version of gflags: /usr/local/lib/cmake/gflags -- Detected gflags version: 2.2.1 -- Found required Ceres dependency: gflags -- Found Ceres version: 1.13.0 installed in: /usr/local with components: [LAPACK, SuiteSparse, SparseLinearAlgebraLibrary, CXSparse, SchurSpecializations, OpenMP] catkin_lib camera_model;/opt/ros/kinetic/lib/libroscpp.so;/usr/lib/x86_64-linux-gnu/libboost_signals.so;/opt/ros/kinetic/lib/libxmlrpcpp.so;/opt/ros/kinetic/lib/libcv_bridge.so;/opt/ros/kinetic/lib/libopencv_core3.so.3.3.1;/opt/ros/kinetic/lib/libopencv_imgproc3.so.3.3.1;/opt/ros/kinetic/lib/libopencv_imgcodecs3.so.3.3.1;/opt/ros/kinetic/lib/librosconsole.so;/opt/ros/kinetic/lib/librosconsole_log4cxx.so;/opt/ros/kinetic/lib/librosconsole_backend_interface.so;/usr/lib/x86_64-linux-gnu/liblog4cxx.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;/opt/ros/kinetic/lib/libroscpp_serialization.so;/opt/ros/kinetic/lib/librostime.so;/opt/ros/kinetic/lib/libcpp_common.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;/usr/lib/x86_64-linux-gnu/libpthread.so;/usr/lib/x86_64-linux-gnu/libconsole_bridge.so;/opt/ros/kinetic/lib/libroslib.so;/opt/ros/kinetic/lib/librospack.so;/usr/lib/x86_64-linux-gnu/libpython2.7.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_program_options.so;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libtinyxml.so -- +++ processing catkin package: 'vins_estimator' -- ==> add_subdirectory(VINS-Mono/vins_estimator) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at VINS-Mono/vins_estimator/CMakeLists.txt:20 (message): OpenCV_VERSION: 3.3.1

-- Found installed version of Eigen: /usr/local/share/eigen3/cmake -- Found required Ceres dependency: Eigen version 3.3.3 in /usr/local/include/eigen3 -- Found required Ceres dependency: glog -- Found installed version of gflags: /usr/local/lib/cmake/gflags -- Detected gflags version: 2.2.1 -- Found required Ceres dependency: gflags -- Found Ceres version: 1.13.0 installed in: /usr/local with components: [LAPACK, SuiteSparse, SparseLinearAlgebraLibrary, CXSparse, SchurSpecializations, OpenMP] -- Configuring done -- Generating done -- Build files have been written to: /home/yfz/catkin_ws/build

Running command: "make -j4 -l4" in "/home/yfz/catkin_ws/build"

Scanning dependencies of target benchmark_publisher Scanning dependencies of target camera_model Scanning dependencies of target Calibration Scanning dependencies of target vins_estimator [ 1%] Building CXX object VINS-Mono/benchmark_publisher/CMakeFiles/benchmark_publisher.dir/src/benchmark_publisher_node.cpp.o [ 3%] Linking CXX executable /home/yfz/catkin_ws/devel/lib/benchmark_publisher/benchmark_publisher CMakeFiles/benchmark_publisher.dir/src/benchmark_publisher_node.cpp.o：在函数‘std::string readParamstd::string(ros::NodeHandle&, std::string)’中： /home/yfz/catkin_ws/src/VINS-Mono/benchmark_publisher/src/benchmark_publisher_node.cpp:21：对‘ros::NodeHandle::getParam(std::string const&, std::string&) const’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/benchmark_publisher/src/benchmark_publisher_node.cpp:27：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/benchmark_publisher/src/benchmark_publisher_node.cpp:23：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/benchmark_publisher/src/benchmark_publisher_node.cpp:23：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/benchmark_publisher/src/benchmark_publisher_node.cpp:27：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/benchmark_publisher.dir/src/benchmark_publisher_node.cpp.o：在函数‘void ros::Publisher::publish<nav_msgs::Odometry_<std::allocator > >(nav_msgs::Odometry_<std::allocator > const&) const’中： /opt/ros/kinetic/include/ros/publisher.h:108：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /opt/ros/kinetic/include/ros/publisher.h:108：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /opt/ros/kinetic/include/ros/publisher.h:108：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/benchmark_publisher.dir/src/benchmark_publisher_node.cpp.o:/opt/ros/kinetic/include/ros/publisher.h:102: 跟着更多未定义的参考到 ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level) CMakeFiles/benchmark_publisher.dir/src/benchmark_publisher_node.cpp.o：在函数‘main’中： /home/yfz/catkin_ws/src/VINS-Mono/benchmark_publisher/src/benchmark_publisher_node.cpp:130：对‘ros::init(int&, char**, std::string const&, unsigned int)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/benchmark_publisher/src/benchmark_publisher_node.cpp:131：对‘ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::lessstd::string, std::allocator<std::pair<std::string const, std::string> > > const&)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/benchmark_publisher/src/benchmark_publisher_node.cpp:145：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/benchmark_publisher/src/benchmark_publisher_node.cpp:151：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/benchmark_publisher/src/benchmark_publisher_node.cpp:138：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/benchmark_publisher.dir/src/benchmark_publisher_node.cpp.o：在函数‘ros::SubscriptionCallbackHelperT<boost::shared_ptr<nav_msgs::Odometry_<std::allocator > const> const&, void>::deserialize(ros::SubscriptionCallbackHelperDeserializeParams const&)’中： /opt/ros/kinetic/include/ros/subscription_callback_helper.h:126：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 collect2: error: ld returned 1 exit status VINS-Mono/benchmark_publisher/CMakeFiles/benchmark_publisher.dir/build.make:118: recipe for target '/home/yfz/catkin_ws/devel/lib/benchmark_publisher/benchmark_publisher' failed make[2]: *** [/home/yfz/catkin_ws/devel/lib/benchmark_publisher/benchmark_publisher] Error 1 CMakeFiles/Makefile2:1830: recipe for target 'VINS-Mono/benchmark_publisher/CMakeFiles/benchmark_publisher.dir/all' failed make[1]: *** [VINS-Mono/benchmark_publisher/CMakeFiles/benchmark_publisher.dir/all] Error 2 make[1]: *** 正在等待未完成的任务.... [ 4%] Building CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/chessboard/Chessboard.cc.o [ 6%] Building CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/calib/CameraCalibration.cc.o [ 7%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o [ 9%] Building CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/intrinsic_calib.cc.o [ 10%] Building CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/chessboard/Chessboard.cc.o [ 12%] Building CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/camera_models/Camera.cc.o [ 13%] Building CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/calib/CameraCalibration.cc.o [ 15%] Building CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/camera_models/CameraFactory.cc.o [ 16%] Building CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/camera_models/Camera.cc.o [ 18%] Building CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/camera_models/CameraFactory.cc.o [ 20%] Building CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/camera_models/CostFunctionFactory.cc.o [ 21%] Building CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/camera_models/CostFunctionFactory.cc.o [ 23%] Building CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/camera_models/PinholeCamera.cc.o [ 24%] Building CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/camera_models/CataCamera.cc.o [ 26%] Building CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/camera_models/EquidistantCamera.cc.o [ 27%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/parameters.cpp.o [ 29%] Building CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/camera_models/ScaramuzzaCamera.cc.o [ 30%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/estimator.cpp.o [ 32%] Building CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/sparse_graph/Transform.cc.o [ 33%] Building CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/gpl/gpl.cc.o [ 35%] Building CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/gpl/EigenQuaternionParameterization.cc.o [ 36%] Building CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/camera_models/PinholeCamera.cc.o [ 38%] Building CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/camera_models/CataCamera.cc.o [ 40%] Building CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/camera_models/EquidistantCamera.cc.o [ 44%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/feature_manager.cpp.o [ 44%] Building CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/camera_models/ScaramuzzaCamera.cc.o [ 44%] Linking CXX executable /home/yfz/catkin_ws/devel/lib/camera_model/Calibration [ 46%] Building CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/sparse_graph/Transform.cc.o [ 47%] Building CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/gpl/gpl.cc.o [ 49%] Building CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/gpl/EigenQuaternionParameterization.cc.o [ 50%] Linking CXX shared library /home/yfz/catkin_ws/devel/lib/libcamera_model.so CMakeFiles/Calibration.dir/src/camera_models/CameraFactory.cc.o：在函数‘camodocal::CameraFactory::generateCameraFromYamlFile(std::string const&)’中： CameraFactory.cc:(.text+0xea0)：对‘cv::read(cv::FileNode const&, std::string&, std::string const&)’未定义的引用 CMakeFiles/Calibration.dir/src/camera_models/PinholeCamera.cc.o：在函数‘camodocal::PinholeCamera::Parameters::readFromYamlFile(std::string const&)’中： PinholeCamera.cc:(.text+0x580e)：对‘cv::read(cv::FileNode const&, std::string&, std::string const&)’未定义的引用 PinholeCamera.cc:(.text+0x5ab0)：对‘cv::read(cv::FileNode const&, std::string&, std::string const&)’未定义的引用 CMakeFiles/Calibration.dir/src/camera_models/CataCamera.cc.o：在函数‘camodocal::CataCamera::Parameters::readFromYamlFile(std::string const&)’中： CataCamera.cc:(.text+0x602f)：对‘cv::read(cv::FileNode const&, std::string&, std::string const&)’未定义的引用 CataCamera.cc:(.text+0x6348)：对‘cv::read(cv::FileNode const&, std::string&, std::string const&)’未定义的引用 CMakeFiles/Calibration.dir/src/camera_models/EquidistantCamera.cc.o:EquidistantCamera.cc:(.text+0x9b48): 跟着更多未定义的参考到 cv::read(cv::FileNode const&, std::string&, std::string const&) collect2: error: ld returned 1 exit status [ 50%] Built target camera_model VINS-Mono/camera_model/CMakeFiles/Calibration.dir/build.make:477: recipe for target '/home/yfz/catkin_ws/devel/lib/camera_model/Calibration' failed make[2]: *** [/home/yfz/catkin_ws/devel/lib/camera_model/Calibration] Error 1 CMakeFiles/Makefile2:1924: recipe for target 'VINS-Mono/camera_model/CMakeFiles/Calibration.dir/all' failed make[1]: *** [VINS-Mono/camera_model/CMakeFiles/Calibration.dir/all] Error 2 [ 52%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/factor/projection_td_factor.cpp.o [ 53%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/factor/marginalization_factor.cpp.o [ 55%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/utility/utility.cpp.o [ 56%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/utility/visualization.cpp.o [ 58%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/utility/CameraPoseVisualization.cpp.o [ 60%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/factor/projection_factor.cpp.o [ 61%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/factor/pose_local_parameterization.cpp.o [ 63%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/initial/solve_5pts.cpp.o [ 64%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/initial/initial_aligment.cpp.o [ 66%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/initial/initial_sfm.cpp.o [ 67%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/initial/initial_ex_rotation.cpp.o [ 69%] Linking CXX executable /home/yfz/catkin_ws/devel/lib/vins_estimator/vins_estimator CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o：在函数‘restart_callback(boost::shared_ptr<std_msgs::Bool_<std::allocator > const> const&)’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator_node.cpp:183：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o：在函数‘imu_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator > const> const&)’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator_node.cpp:142：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o：在函数‘getMeasurements()’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator_node.cpp:132：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator_node.cpp:117：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o：在函数‘process()’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator_node.cpp:252：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o:/home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator_node.cpp:251: 跟着更多未定义的参考到 ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level) CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o：在函数‘main’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator_node.cpp:342：对‘ros::init(int&, char**, std::string const&, unsigned int)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator_node.cpp:343：对‘ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::lessstd::string, std::allocator<std::pair<std::string const, std::string> > > const&)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator_node.cpp:344：对‘ros::console::set_logger_level(std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator_node.cpp:350：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o：在函数‘ros::SubscriptionCallbackHelperT<boost::shared_ptr<std_msgs::Bool_<std::allocator > const> const&, void>::deserialize(ros::SubscriptionCallbackHelperDeserializeParams const&)’中： /opt/ros/kinetic/include/ros/subscription_callback_helper.h:126：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o：在函数‘ros::SubscriptionCallbackHelperT<boost::shared_ptr<sensor_msgs::Imu_<std::allocator > const> const&, void>::deserialize(ros::SubscriptionCallbackHelperDeserializeParams const&)’中： /opt/ros/kinetic/include/ros/subscription_callback_helper.h:126：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o：在函数‘ros::SubscriptionCallbackHelperT<boost::shared_ptr<sensor_msgs::PointCloud_<std::allocator > const> const&, void>::deserialize(ros::SubscriptionCallbackHelperDeserializeParams const&)’中： /opt/ros/kinetic/include/ros/subscription_callback_helper.h:126：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/parameters.cpp.o：在函数‘operator>><std::basic_string >’中： /opt/ros/kinetic/include/opencv-3.3.1/opencv2/core/cvstd.inl.hpp:156：对‘cv::read(cv::FileNode const&, std::string&, std::string const&)’未定义的引用 /opt/ros/kinetic/include/opencv-3.3.1/opencv2/core/cvstd.inl.hpp:156：对‘cv::read(cv::FileNode const&, std::string&, std::string const&)’未定义的引用 CMakeFiles/vins_estimator.dir/src/parameters.cpp.o：在函数‘readParameters(ros::NodeHandle&)’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:119：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:125：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:73：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:106：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:105：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:105：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:106：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:92：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:119：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:117：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:117：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:78：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:88：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:125：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/parameters.cpp.o：在函数‘std::string readParamstd::string(ros::NodeHandle&, std::string)’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:30：对‘ros::NodeHandle::getParam(std::string const&, std::string&) const’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:36：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:32：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:32：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/parameters.cpp:36：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/estimator.cpp.o：在函数‘Estimator::relativePose(Eigen::Matrix<double, 3, 3, 0, 3, 3>&, Eigen::Matrix<double, 3, 1, 0, 3, 1>&, int&)’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:458：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/estimator.cpp.o：在函数‘Estimator::Estimator()’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:5：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/estimator.cpp.o：在函数‘Estimator::failureDetection()’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:623：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/estimator.cpp.o:/home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:618: 跟着更多未定义的参考到 ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level) CMakeFiles/vins_estimator.dir/src/estimator.cpp.o：在函数‘Estimator::visualInitialAlign()’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:430：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:429：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:429：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:430：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/estimator.cpp.o：在函数‘Estimator::initialStructure()’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:238：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:266：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:274：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:351：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/estimator.cpp.o:/home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:334: 跟着更多未定义的参考到 ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level) CMakeFiles/vins_estimator.dir/src/estimator.cpp.o：在函数‘Estimator::processImage(std::map<int, std::vector<std::pair<int, Eigen::Matrix<double, 7, 1, 0, 7, 1> >, std::allocator<std::pair<int, Eigen::Matrix<double, 7, 1, 0, 7, 1> > > >, std::less, std::allocator<std::pair<int const, std::vector<std::pair<int, Eigen::Matrix<double, 7, 1, 0, 7, 1> >, std::allocator<std::pair<int, Eigen::Matrix<double, 7, 1, 0, 7, 1> > > > > > > const&, std_msgs::Header_<std::allocator > const&)’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:143：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:143：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:142：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:123：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:122：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:184：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/estimator.cpp.o:/home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/estimator.cpp:124: 跟着更多未定义的参考到 ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level) CMakeFiles/vins_estimator.dir/src/utility/visualization.cpp.o：在函数‘printStatistics(Estimator const&, double)’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/utility/visualization.cpp:71：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/utility/visualization.cpp:71：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/utility/visualization.cpp:70：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/utility/visualization.cpp:96：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/utility/visualization.cpp:76：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/utility/visualization.cpp:76：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/utility/visualization.cpp:75：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/utility/visualization.cpp:97：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/utility/visualization.cpp:70：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/utility/visualization.cpp:103：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/utility/visualization.cpp.o：在函数‘void ros::Publisher::publish<nav_msgs::Odometry_<std::allocator > >(nav_msgs::Odometry_<std::allocator > const&) const’中： /opt/ros/kinetic/include/ros/publisher.h:108：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /opt/ros/kinetic/include/ros/publisher.h:108：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/utility/visualization.cpp.o:/opt/ros/kinetic/include/ros/publisher.h:108: 跟着更多未定义的参考到 ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level) CMakeFiles/vins_estimator.dir/src/initial/initial_aligment.cpp.o：在函数‘LinearAlignment(std::map<double, ImageFrame, std::less, std::allocator<std::pair<double const, ImageFrame> > >&, Eigen::Matrix<double, 3, 1, 0, 3, 1>&, Eigen::Matrix<double, -1, 1, 0, -1, 1>&)’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/initial/initial_aligment.cpp:192：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/initial/initial_aligment.cpp:192：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/initial/initial_aligment.cpp:183：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/initial/initial_aligment.cpp:181：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/initial/initial_aligment.cpp:183：对‘ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 CMakeFiles/vins_estimator.dir/src/initial/initial_aligment.cpp.o：在函数‘solveGyroscopeBias(std::map<double, ImageFrame, std::less, std::allocator<std::pair<double const, ImageFrame> > >&, Eigen::Matrix<double, 3, 1, 0, 3, 1>)’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/initial/initial_aligment.cpp:27：对‘ros::console::print(ros::console::FilterBase, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const*, int, char const*)’未定义的引用 /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/initial/initial_aligment.cpp:27：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/initial/initial_ex_rotation.cpp.o：在函数‘InitialEXRotation::testTriangulation(std::vector<cv::Point_, std::allocator<cv::Point_ > > const&, std::vector<cv::Point_, std::allocator<cv::Point_ > > const&, cv::Mat_, cv::Mat_)’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/initial/initial_ex_rotation.cpp:123：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 CMakeFiles/vins_estimator.dir/src/initial/initial_ex_rotation.cpp.o：在函数‘InitialEXRotation::CalibrationExRotation(std::vector<std::pair<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >, std::allocator<std::pair<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1> > > >, Eigen::Quaternion<double, 0>, Eigen::Matrix<double, 3, 3, 0, 3, 3>&)’中： /home/yfz/catkin_ws/src/VINS-Mono/vins_estimator/src/initial/initial_ex_rotation.cpp:27：对‘ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)’未定义的引用 collect2: error: ld returned 1 exit status VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/build.make:554: recipe for target '/home/yfz/catkin_ws/devel/lib/vins_estimator/vins_estimator' failed make[2]: *** [/home/yfz/catkin_ws/devel/lib/vins_estimator/vins_estimator] Error 1 CMakeFiles/Makefile2:2309: recipe for target 'VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/all' failed make[1]: *** [VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/all] Error 2 Makefile:138: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j4 -l4" failed

Mar 03 '18 08:03 phenix1983

I had this issue when I was using catkin tools and had the workspace set up to make an install space. I had to make a new devel space workspace to build VINS

Jul 03 '19 21:07 safijari

i have meet this problem too ,i don't know how to deal with it

Jul 07 '19 15:07 Mrxiang-Plus

Try to remove build, devel, and logs folders and compile with catkin build

Apr 30 '20 12:04 ghost

VINS-Mono VINS-Mono copied to clipboard

Failed to catkin_make.

Running command: "cmake /home/yfz/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/yfz/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/yfz/catkin_ws/install -G Unix Makefiles" in "/home/yfz/catkin_ws/build"

Running command: "make -j4 -l4" in "/home/yfz/catkin_ws/build"

VINS-Mono
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